A breaststroke hip joint assisting robot system

Abstract

The present invention discloses a breaststroke hip joint assisting robot system, comprising a binding unit, a hip joint assisting unit, a posture maintaining unit and a sensing unit; the hip joint assisting unit comprises a hip joint movable anchor point, a hip joint assisting Bowden cable and a hip joint driving unit, the hip joint movable anchor point being connected to the back side of the thigh binding part and the back side of the knee binding part respectively through a hip joint movable anchor point transverse fixing belt and an A-type structure fixing belt, one end of the hip joint assisting Bowden cable is connected to the hip joint driving unit, and the other end passes through the hip joint movable anchor point on the same side of the user's body and is fixed to the other hip joint movable anchor point; the posture maintaining unit comprises a back movable anchor point, a shoulder fixed anchor point connecting belt and a hip joint movable anchor point longitudinal fixing belt. The present invention relies on inertial sensors to sense the human body's movement intention, judge the breaststroke action stage, control the hip joint assisting unit to assist, and reduce the user's physical exertion.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater exoskeletons, in particular to a breaststroke hip joint assisting robot system. Background Art

[0002] Breaststroke holds a prominent place in the swimming world, a widely adopted stroke suitable for swimmers of all ages and skill levels. It plays a crucial role in aquatic activities, including underwater rescue, beginner training, underwater observation and scientific research, and underwater filming and photography. However, breaststroke also has drawbacks, such as slow speed, high energy consumption, and inefficient leg function.

[0003] In many situations, swimmers are required to perform breaststroke for extended periods. However, because breaststroke requires frequent body movements and breathing, poor technique or insufficient physical fitness can lead to muscle fatigue or even cramps, increasing the risk of drowning. Therefore, an assisted exoskeleton robot based on human motion intention sensing technology can provide assistance to personnel who need to perform breaststroke underwater for extended periods, improving efficiency and reducing risk.

[0004] CN 114800445 A discloses an amphibious exoskeleton robot system for underwater rescue, CN114797062 A discloses a swimming teaching auxiliary exoskeleton device, and CN 117047739 A discloses an exoskeleton robot hip joint direct drive power assist device. Although the above-mentioned existing technologies can assist the operator's underwater movement, they are all mechanical exoskeletons, the equipment is complex and heavy, the joints have poor degrees of freedom, and are not specifically designed to assist breaststroke, resulting in a poor user experience. CN112936232 A discloses a hip joint exoskeleton robot system for assisting diving. Although it is a flexible exoskeleton system, it is only suitable for assisting the hip joint and cannot standardize diving movements.

[0005] Therefore, it is of great practical significance to develop a breaststroke-assisted underwater exoskeleton that has good adaptability to posture changes, good joint freedom, good user experience, and can standardize diving movements. Summary of the Invention

[0006] Due to the above-mentioned defects in the prior art, the present invention provides a breaststroke-assisted underwater exoskeleton with good adaptability to posture changes, good joint freedom, good user experience and the ability to standardize diving movements. Specifically, it is a breaststroke hip joint auxiliary robot system, which overcomes the defects of existing underwater exoskeletons, which are mostly mechanical exoskeletons, with complex and heavy equipment, poor joint freedom, poor user experience and inability to standardize diving movements.

[0007] In order to achieve the above object, the present invention provides the following technical solutions:

[0008] A breaststroke hip joint assisting robot system, comprising a binding unit, a hip joint assisting unit, a posture maintaining unit and a sensing unit;

[0009] The binding unit includes a vest, a waist belt, a thigh binding part and a knee binding part;

[0010] The hip joint assist unit includes a hip joint movable anchor point, a hip joint assist Bowden cable and a hip joint drive unit, the hip joint drive unit includes a controller, the hip joint drive unit is fixed to the front side of the vest, there are two hip joint movable anchor points, and they are respectively arranged on the back side of the thigh binding part, the hip joint movable anchor points are respectively connected to the back side of the thigh binding part and the back side of the knee binding part through the hip joint movable anchor point transverse fixing belt and the A-type structure fixing belt, there are two hip joint assist Bowden cables, one end of the hip joint assist Bowden cable is connected to the hip joint drive unit, and the other end passes through the side of the user's body and backwards through the hip joint movable anchor point on the same side as the hip joint assist Bowden cable and is then fixed to the other hip joint movable anchor point;

[0011] The posture maintaining unit includes a back movable anchor point, a shoulder fixed anchor point connecting belt and a hip joint movable anchor point longitudinal fixing belt, the back movable anchor point is arranged at the middle position of the user's back, the two hip joint movable anchor points and the back movable anchor point form an isosceles triangle, the back movable anchor point is respectively fixed to the two shoulder fixed anchor points at the shoulder position of the vest through the two shoulder fixed anchor point connecting belts, and the back movable anchor point is simultaneously fixed to the two hip joint movable anchor points through the two hip joint movable anchor point longitudinal fixing belts;

[0012] The sensing unit is used to receive the action intention signal and transmit the relevant signal to the controller. After processing the relevant signal, the controller obtains the control scheme and controls the hip joint power assist unit to perform corresponding actions and provide assistance according to the control scheme.

[0013] The hip joint assist Bowden cable passes through the hip joint motion anchor point on the same side as the hip joint assist Bowden cable and is fixed to another hip joint motion anchor point. This installation form can work well with the posture maintenance unit to standardize the displacement of the hip joint motion anchor point during swimming.

[0014] The hip joint movable anchor point and the back movable anchor point are connected to the binding unit through multiple anchor point connecting belts to form a posture maintenance unit. The hip joint driving unit is connected to the two hip joint movable anchor points through the hip joint assist Bowden cable. The hip joint assist Bowden cable can be tightened or loosened through the hip joint driving unit to provide assistance for the adduction or extension of the hip joint. The movement of the hip joint movable anchor point drives the posture maintenance unit to assist in standardizing the breaststroke swimming style.

[0015] The operating logic of the above-mentioned breaststroke hip joint assist robot system is as follows:

[0016] The perception unit collects the user's action intention signals during breaststroke, and the action intention signals are transmitted to the controller. The controller will preprocess, extract features and classify the collected action intention signals to determine which action stage of breaststroke the user is in at this time. Preprocessing is to filter the collected signals, remove useless signals, amplify useful signals and use them; feature extraction is to collect the characteristic signals of each action, and the difference in characteristic signals represents the actions of different stages of breaststroke; classification is to determine which action stage of breaststroke the user is in based on different action characteristics. After obtaining the processing results, the controller determines the control scheme based on the results, and then controls the hip joint assist unit to make corresponding actions according to the control scheme to achieve assistance for hip adduction. At the same time, with the cooperation of the posture maintaining unit, the system can limit the bending action of people in an upright state, so as to achieve the assistance effect when maintaining a horizontal posture in the gliding stage of breaststroke, and realize effective standardization of breaststroke swimming posture. The cooperation of the above units can effectively reduce the physical exertion of people during breaststroke and greatly improve the user experience.

[0017] The breaststroke hip joint assistive robot system of the present invention utilizes a sensing unit to predict the user's movement intention in advance to achieve optimal assistance work, with good accuracy, simple operation and strong adaptability; the main components are arranged on the upper body, which can minimize the load on the lower body to facilitate swimming for the user; the whole is a flexible exoskeleton, which can better fit and adapt to the human body's movement, provide greater joint freedom, and have better adaptability to posture changes, and the overall weight is light, which can provide a more comfortable wearing experience; the structural design is reasonable, and the cooperation of the hip joint assist unit and the posture maintaining unit can effectively regulate the diving action, with good applicability and user experience, and good application prospects.

[0018] As the preferred technical solution:

[0019] In the breaststroke hip joint assisting robot system as described above, the vest and the belt are connected via a vest-belt connecting strap and a Velcro on the back of the user.

[0020] In the breaststroke hip joint assisting robot system as described above, the waist belt and thigh binding parts are connected on the front side of the user through the waist belt and thigh binding device connecting belt.

[0021] In the breaststroke hip joint assist robot system as described above, the hip joint drive unit is fixed to the front side of the vest through multiple hip joint drive unit fixing straps, wherein two hip joint drive unit fixing straps are fixed to two shoulder fixing anchor points at the shoulder position of the vest.

[0022] A breaststroke hip joint assistive robot system as described above, wherein the hip joint drive unit further comprises a hip joint drive housing, a hip joint drive unit chassis, a hip joint drive motor and a hip joint drive reel;

[0023] The controller is electrically connected to the hip joint drive motor, and the controller is used to control the movement of the hip joint drive motor;

[0024] One side of the hip joint drive unit chassis is provided with a mounting hole I for installing a hip joint drive motor and a hip joint drive winding wheel, and the other side is provided with a mounting hole II for installing a controller. The controller is installed in the mounting hole II and the opening of the mounting hole II is closed. The hip joint drive motor and the hip joint drive winding wheel are installed in the mounting hole I. The drive shaft of the hip joint drive motor is connected to the hip joint drive winding wheel. Two hip joint power-assisting Bowden cables are wound on the hip joint drive winding wheel. The hip joint drive housing is fixed to the hip joint drive unit chassis by bolts and the hip joint drive housing closes the opening of the mounting hole I. When the hip joint drive motor rotates, it will drive the hip joint drive reel to rotate together. When the hip joint assist Bowden cable wrapped around the hip joint drive reel contracts under the action of the hip joint drive unit, the hip joint movable anchor point will move inward toward the inner side of the leg, achieving the assist effect of hip adduction. This is the gliding stage of the breaststroke movement. The angle between the longitudinal fixing belts of the hip joint movable anchor point becomes smaller under the influence of the hip joint movable anchor point, which limits the person from bending over when standing upright, thereby achieving the assist effect of maintaining a horizontal posture during the gliding stage of the breaststroke movement.

[0025] As described above, in a breaststroke hip joint assistive robot system, a hip joint drive waterproof ring is provided between the hip joint drive reel and the hip joint drive unit chassis to achieve waterproof sealing, and the hip joint drive motor is a built-in drive motor and does not require an additional drive module.

[0026] In the breaststroke hip-joint assistive robot system as described above, the hip-joint drive unit further comprises a battery for powering the underwater flexible exoskeleton robot system;

[0027] The battery is installed in the installation hole II.

[0028] In the breaststroke hip joint assisting robot system as described above, the sensing unit is an inertial sensor on the front of the thigh;

[0029] There are two inertial sensors on the front of the thighs, and the two inertial sensors on the front of the thighs are respectively fixed on the front sides of the two calves of the user through the thigh binding parts.

[0030] In the breaststroke hip joint assisting robot system as described above, the inertial sensor on the front of the thigh has been waterproofed.

[0031] The above technical solution is only a feasible technical solution of the present invention. The protection scope of the present invention is not limited thereto. Those skilled in the art can reasonably adjust the specific design according to actual needs.

[0032] The above invention has the following advantages or beneficial effects:

[0033] (1) The breaststroke hip joint assistive robot system of the present invention can predict the user's movement intention in advance by setting up inertial sensors, perform feature recognition when the user performs various actions, predict the next action based on the inertial sensor signal, and use this to control the exoskeleton to make corresponding actions to achieve the power assist function;

[0034] (2) The breaststroke hip joint assistive robot system of the present invention can identify the specific stage of the breaststroke movement of the user by setting up an inertial sensor to collect signals and classify them. Based on the perception and prediction of movement intention, the system can accurately provide assistance to the wearer and can accurately assist the user's movements. It is simple to operate and has strong adaptability.

[0035] (3) The breaststroke hip joint assistive robot system of the present invention, by providing a flexible exoskeleton, can better fit and adapt to human body movements, provide greater joint freedom, and have better adaptability to posture changes. It is also lightweight and can provide a more comfortable wearing experience.

[0036] (4) The breaststroke hip joint assistive robot system of the present invention arranges the main components on the upper body, which can minimize the load on the lower body and improve the user experience;

[0037] (5) The breaststroke hip joint assistive robot system of the present invention has a reasonable structural design. It can effectively regulate diving movements through the cooperation of the hip joint assist unit and the posture maintaining unit, further improving the user experience and having good application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The present invention and its features, configurations, and advantages will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings. Like reference numerals indicate like parts throughout the drawings. The drawings are not necessarily drawn to scale, emphasis being placed on illustrating the subject matter of the present invention.

[0039] Figure 1 is a front view schematic diagram of the breaststroke hip joint assisting robot system of the present invention;

[0040] Figure 2 is a rear view schematic diagram of the breaststroke hip joint assisting robot system of the present invention;

[0041] Figure 3 An exploded view of the hip joint drive unit of the present invention;

[0042] Among them, 1- vest; 2- waist belt; 3- thigh binding part; 4- knee binding part; 5- front thigh inertial sensor; 6- waist belt and thigh binding device connection belt; 7- vest and waist belt connection belt; 8- hip joint drive unit; 9- hip joint drive unit fixing belt; 10- back movable anchor point; 11- hip joint movable anchor point; 12- A-type structure fixing belt; 13- hip joint movable anchor point transverse fixing belt; 14- hip joint assist Bowden cable; 15- hip joint movable anchor point longitudinal fixing belt; 16- shoulder fixed anchor point connecting belt; 801- hip joint drive unit chassis; 802- hip joint drive motor; 803- hip joint drive waterproof ring; 804- hip joint drive winding reel; 805- hip joint drive housing; 806- controller; 807- battery. DETAILED DESCRIPTION

[0043] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0044] Example 1

[0045] A breaststroke hip joint assisting robot system, comprising a binding unit, a hip joint assisting unit, a posture maintaining unit and a sensing unit;

[0046] The binding unit includes a vest 1, a waist belt 2, a thigh binding part 3 and a knee binding part 4. The vest 1 and the waist belt 2 are connected by a vest-belt connecting belt 7 and a Velcro on the user's back side. The waist belt 2 and the thigh binding part 3 are connected on the user's front side by a waist belt-thigh binding device connecting belt 6.

[0047] The hip joint assist unit includes a hip joint movable anchor point 11, a hip joint assist Bowden cable 14 and a hip joint drive unit 8. The hip joint drive unit 8 includes a controller 806, a hip joint drive housing 805, a hip joint drive unit chassis 801, a hip joint drive motor 802, a hip joint drive reel 804 and a battery 807 for powering the underwater flexible exoskeleton robot system. The controller 807 is electrically connected to the hip joint drive motor 802. One side of the hip joint drive unit chassis 801 is provided with a housing for installing the hip joint drive motor 802. 02 and the hip joint drive reel 804, and a mounting hole I is opened on the other side for mounting a controller 806 and a battery 807. The controller 806 and the battery 807 are installed in the mounting hole II and the opening of the mounting hole II is closed. The hip joint drive motor 802 and the hip joint drive reel 804 are installed in the mounting hole I. A hip joint drive waterproof ring 803 is provided between the hip joint drive reel 804 and the hip joint drive unit chassis 801. The driving shaft of the hip joint drive motor 802 is connected to the hip joint drive reel 804. 04 connection, two hip joint assist Bowden cables 14 are wound around the hip joint drive reel 804, the hip joint drive housing 805 is fixed to the hip joint drive unit chassis 801 by bolts, and the hip joint drive housing 805 closes the opening of the mounting hole 1, the hip joint drive unit 8 is fixed to the front side of the vest 1 (the hip joint drive unit 8 is fixed to the front side of the vest 1 by multiple hip joint drive unit fixing straps 9, two of which are fixed to the two shoulder fixing anchor points on the shoulder position of the vest 1), and the hip joint movable anchor point 11 There are two hip joint anchor points 11, which are respectively arranged on the back side of the thigh binding part 3. The hip joint anchor point transverse fixing belt 13 and the A-type structure fixing belt 12 are connected to the back side of the thigh binding part 3 and the back side of the knee binding part 4 respectively. There are two hip joint assisting Bowden cables 14. One end of the hip joint assisting Bowden cable 14 is wound around and connected to the hip joint driver winding wheel 804. The other end passes through the side of the user's body and then passes through the hip joint active anchor point on the same side as the hip joint assisting Bowden cable and is fixed to the other hip joint active anchor point.

[0048] The posture maintaining unit includes a back movable anchor point 10, a shoulder fixed anchor point connecting belt 16 and a hip joint movable anchor point longitudinal fixing belt 15. The back movable anchor point 10 is arranged in the middle of the user's back. The two hip joint movable anchor points 11 and the back movable anchor point 10 form an isosceles triangle. The back movable anchor point 10 is fixed to the two shoulder fixed anchor points at the shoulder position of the vest 1 through the two shoulder fixed anchor point connecting belts 16. The back movable anchor point 10 is also fixed to the two hip joint movable anchor points 11 through the two hip joint movable anchor point longitudinal fixing belts 15.

[0049] The sensing unit is a waterproof thigh front inertial sensor 5. There are two thigh front inertial sensors 5, which are respectively fixed on the front of the user's two calves through the thigh binding part 3. The sensing unit receives the action intention signal and transmits the relevant signal to the controller 806. After processing the relevant signal, the controller 806 obtains a control plan and controls the hip joint assist unit to perform corresponding actions and provide assistance according to the control plan.

[0050] Working principle:

[0051] The inertial sensor 5 on the front of the thigh collects the user's action intention signal during breaststroke, and the action intention signal is transmitted to the controller. The controller 806 will pre-process, feature extract and classify the collected action intention signal to determine which action stage of breaststroke the user is in at this time. Pre-processing is to filter the collected signals, remove useless signals, amplify useful signals and use them; feature extraction is to collect the characteristic signals of each action, and the difference in characteristic signals represents the actions of different stages of breaststroke; classification is to determine which action stage of breaststroke the user is in based on different action characteristics. After obtaining the processing results, the controller determines the control scheme based on the results, and then controls the hip joint assist unit to make corresponding actions according to the control scheme to achieve assistance for hip adduction. At the same time, with the cooperation of the posture maintaining unit, the system can limit the bending action of the person when standing upright, so as to achieve the assist effect of maintaining a horizontal posture when sliding in the breaststroke action, and realize effective standardization of the breaststroke swimming posture.

[0052] It has been verified that the breaststroke hip joint assistive robot system of the present invention can predict the user's movement intention in advance by setting an inertial sensor, perform feature recognition when the user performs various actions, predict the next action according to the inertial sensor signal, and control the exoskeleton to make corresponding actions to realize the power assist function; by setting an inertial sensor to collect signals and classify them, it can identify the specific stage of the user's breaststroke action. Based on the perception prediction of movement intention, the system can accurately provide assistance to the wearer, and can provide precise assistance to the user's movements. It is simple to operate and has strong adaptability; by setting a flexible exoskeleton, it can better fit and adapt to the human body's movement, provide greater joint freedom, and have better adaptability to posture changes, and the overall weight is light, which can provide a more comfortable wearing experience; arranging the main components on the upper body can minimize the load on the lower body and improve the user experience; the structural design is reasonable, and the cooperation between the hip joint assist unit and the posture maintenance unit can effectively regulate the diving action, further improve the user experience, and has good application prospects.

[0053] Those skilled in the art should understand that they can implement variations by combining the prior art with the above embodiments, which will not be described in detail here. Such variations do not affect the essence of the present invention and will not be described in detail here.

[0054] The above describes the preferred embodiments of the present invention. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and the devices and structures that are not described in detail should be understood to be implemented in a common manner in the art; any technician familiar with the art can use the above-mentioned disclosed methods and technical contents to make many possible changes and modifications to the technical solutions of the present invention without departing from the scope of the technical solutions of the present invention, or modify them into equivalent embodiments of equivalent changes, which does not affect the essential content of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention that do not depart from the content of the technical solutions of the present invention are still within the scope of protection of the technical solutions of the present invention.

Claims

1. A breaststroke hip joint assisting robot system, characterized by: It includes a binding unit, a hip joint assist unit, a posture maintaining unit and a sensing unit; The binding unit includes a vest, a waist belt, a thigh binding part and a knee binding part; The hip joint assist unit includes a hip joint movable anchor point, a hip joint assist Bowden cable and a hip joint drive unit, the hip joint drive unit includes a controller, the hip joint drive unit is fixed to the front side of the vest, there are two hip joint movable anchor points, and they are respectively arranged on the back side of the thigh binding part, the hip joint movable anchor points are respectively connected to the back side of the thigh binding part and the back side of the knee binding part through the hip joint movable anchor point transverse fixing belt and the A-type structure fixing belt, there are two hip joint assist Bowden cables, one end of the hip joint assist Bowden cable is connected to the hip joint drive unit, and the other end passes through the side of the user's body and backwards through the hip joint movable anchor point on the same side as the hip joint assist Bowden cable and is then fixed to the other hip joint movable anchor point; The posture maintaining unit includes a back movable anchor point, a shoulder fixed anchor point connecting belt and a hip joint movable anchor point longitudinal fixing belt, the back movable anchor point is arranged at the middle position of the user's back, the two hip joint movable anchor points and the back movable anchor point form an isosceles triangle, the back movable anchor point is respectively fixed to the two shoulder fixed anchor points at the shoulder position of the vest through the two shoulder fixed anchor point connecting belts, and the back movable anchor point is simultaneously fixed to the two hip joint movable anchor points through the two hip joint movable anchor point longitudinal fixing belts; The sensing unit is used to receive the action intention signal and transmit the relevant signal to the controller. The controller processes the relevant signal to obtain a control scheme and controls the hip joint power assist unit to perform corresponding actions and provide assistance according to the control scheme. The hip joint drive unit further comprises a hip joint drive housing, a hip joint drive unit chassis, a hip joint drive motor and a hip joint drive reel; The controller is electrically connected to the hip joint drive motor; One side of the hip joint drive unit chassis is provided with a mounting hole I for installing a hip joint drive motor and a hip joint drive winding wheel, and the other side is provided with a mounting hole II for installing a controller. The controller is installed in the mounting hole II and the opening of the mounting hole II is closed. The hip joint drive motor and the hip joint drive winding wheel are installed in the mounting hole I. The drive shaft of the hip joint drive motor is connected to the hip joint drive winding wheel. Two hip joint power-assisting Bowden cables are wound on the hip joint drive winding wheel. The hip joint drive housing is fixed to the hip joint drive unit chassis by bolts and the hip joint drive housing closes the opening of the mounting hole I.

2. The breaststroke hip joint assisting robot system according to claim 1, characterized in that: The vest and the waist belt are connected by a vest and waist belt connecting strap and a Velcro on the back side of the user.

3. The breaststroke hip joint assisting robot system according to claim 1, characterized in that: The waist belt and thigh binding parts are connected on the front side of the user through the waist belt and thigh binding device connecting belt.

4. The breaststroke hip joint assisting robot system according to claim 1, characterized in that: The hip joint drive unit is fixed to the front side of the vest through a plurality of hip joint drive unit fixing belts, wherein two hip joint drive unit fixing belts are fixed to two shoulder fixing anchor points at the upper shoulder position of the vest.

5. The breaststroke hip joint assisting robot system according to claim 1, characterized in that: A hip joint drive waterproof ring is provided between the hip joint drive reel and the hip joint drive unit chassis.

6. The breaststroke hip joint assisting robot system according to claim 1, characterized in that: The hip joint drive unit also includes a battery for powering the underwater flexible exoskeleton robot system; The battery is installed in the installation hole II.

7. The breaststroke hip joint assisting robot system according to claim 1, characterized in that: The sensing unit is an inertial sensor on the front of the thigh; There are two inertial sensors on the front of the thighs, and the two inertial sensors on the front of the thighs are respectively fixed on the front sides of the two calves of the user through the thigh binding parts.

8. The breaststroke hip joint assisting robot system according to claim 7, characterized in that: It is characterized by: The front thigh inertial sensor is waterproof.

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